OLD DOMINION ASV TEAM

Chris Shertzer, Co-Capt.

Ben McKinley, Co-Capt.

Adam Stofko

Richard Blanchette

Brittany Garman

Ganesh Balasubramanian

Zach Carpenter

Dr. Gene HouAdvising Professor

THE ROBOBOAT COMPETITION

• Competition Conducted by AUVSI

• Association for unmanned vehicle systems international

• Design autonomous boat

• Visual processing for Navigation

• Competition Scoring based on Static Judging and Competition Challenges

SCORING BREAKDOWN

Hull and Deck Design Design of Deck

• 1 ¼” x 1¼” x 1/8” 6061-T6 aluminum angle bar

• 20”X40” rectangular frame• Modular challenge systems • ¼” holes ever inch along the longitudinal

rains will allow for the mission systems to be located in to provide for the desired longitudinal center for gravity (LCG)

• 1/8” 6061-T6 pontoon supports will allow for easy attachment of pontoons and motorized wheels for ground testing.

• 1 ¼” SCH 40 aluminum piping and milled 6061-T6 aluminum for motor mount.

Design of Pontoons • Length over all (LOA) 56”• Beam of 8” per pontoon• Separation length ratio (S/L) or .42• 1/8” 6061-T6 aluminum construction.

Current Hull & Deck Design

Hydrostatic and Holtrop Analysis from ORCA 3D and GHS

Hydrostatics and Holtrop Analysis

• Maximum Displacement of 198 lbs

• Design draft 3.76 in 80 lbs

• Total resistance of 9.6 lbs at maximum speed of 5 Kts

MINN KOTA PROPELLERS

•

• The Minn Kota propellers were tested using the old ASV hull

• Pitch: 3.49 in or 88.78 mm• High Aspect ratio• Thrust: 133.45 N• 2 blades• To reduce the dip experienced in the test

trial, smaller propellers were designed• The number of propeller blades was

increased from 2 to 3 to add stability

OPENPROP PROPELLER• OpenProp Input Variables:

hub diameter: .08 mnumber of blades: 3rotation speed: 1710 RPMrotor diameter: .228 mrequired thrust: 133.45 Nship speed: 5 m/s# radial panels:20# chordwise panels:20fluid density: 1000 kg/m3

• OpenProp design simulation is exported to SolidWorks

• Propeller will be printed in plastic by a 3D printer

Kort Nozzle Design

Design of nozzle•4.72inch inner radius•3.75inch nozzle length•40% area increase from blade tip to nozzle opening•Notched for clamping around the torpedo cap. •3D printed using ABS•Weighs 2.38lbs

Current Kort nozzle design

Minn Kota Torpedo

CFD & Testing

NACA 10 nozzle flow data Shear

Stress

Velocity Profile

Testing•Bare nozzle tested using CFD•Ideal speed is 2.53 m/s•Digital Hanging scale

AUTOMATED DOCKING CHALLENGE

• Shape recognition and buoy color detection.

• OpenCV library for shape location from real-time image.

• Boat must dock temporarily to complete challenge.

FILTERING AND PROCESSING

• Frame taken from webcam

• Greyscale conversion

• Applying Color Threshold

• Canny interpretation

• Masking

LOGIC OF SHAPE DETECTION

• Calculate approximate Polygons

• Count Vertices

• Calculate angle at each vertex

• Calculate Ratio of area’s

• Constrain object with rectangle

Vtc=3

GANTT CHART

BUDGETTOTAL

$10,483

Pontoons and DeckMaterials   Sub Total $324 Labor   Sub Total $3,250 Software   Sub Total $195     Total $3,769

Kort Nozzle Materials   Sub Total $626 Labor   Sub Total $1,926 Software   Sub Total $86     Total $2,638

Propeller Materials   Sub Total $279 Labor   Sub Total $1,550 Software   Sub Total $86     Total $1,915

Object Tracking Materials   Sub Total $450 Labor   Sub Total $1,625 Software   Sub Total $86     Total $2,161

QUESTIONS?